Optimal path planning of UAVs using direct collocation with nonlinear programming

Brian R. Geiger, Joseph F. Horn, Anthony M. Delullo, Lyle N. Long, Albert F. Niessner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

54 Scopus citations

Abstract

A trajectory generation algorithm using direct collocation with nonlinear programming is successfully demonstrated in simulation. Direct collocation, which approximates the states and controls with piecewise polynomials, has been widely used in space and manned aircraft applications, but has only seen limited use in UAV applications. The algorithm is successfully applied to the generation of a UAV trajectory that provides maximum viewing time for a camera mounted on the UAV. The target can be stationary or moving. Multiple UAVs are considered. In this case, the objective is to provide maximum sensor coverage time using a combination of the UAVs. No specific initial guesses are required to ensure the algorithm is successful.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages1257-1269
Number of pages13
ISBN (Print)1563478196, 9781563478192
DOIs
StatePublished - Jan 1 2006
EventAIAA Guidance, Navigation, and Control Conference 2006 - Keystone, CO, United States
Duration: Aug 21 2006Aug 24 2006

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006
Volume2

Other

OtherAIAA Guidance, Navigation, and Control Conference 2006
CountryUnited States
CityKeystone, CO
Period8/21/068/24/06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Geiger, B. R., Horn, J. F., Delullo, A. M., Long, L. N., & Niessner, A. F. (2006). Optimal path planning of UAVs using direct collocation with nonlinear programming. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006 (pp. 1257-1269). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006; Vol. 2). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2006-6199